Method for stabilizing virtual reality camera configurations

ABSTRACT

A camera stabilization system that is configured to stabilize a plurality of cameras mounted and positioned for virtual reality video recording. The system includes a support apparatus designed to accept and secure a variety of cameras with each camera in the support apparatus optimally orientated for recording still or moving images which can thereafter be processed to create a seamless, 360-degree image suitable for viewing with commercially available virtual reality head-mounted display (HMD). Stabilization of the apparatus is provided by means of stabilization system attached to the apparatus and which stabilization system includes a sensor, processor, controller and motors designed to receive indications about the horizon and dynamically stabilize motion along one or more of the X, Y, and/or Z axis of the apparatus, thereby allowing an operator to record steady, stabilized virtual reality images while moving the apparatus. Further, the attached stabilization system is located within the apparatus such that no part of the stabilization system is visible within the recording frame of any of the plurality of cameras while the cameras are in operation.

RELATED APPLICATIONS

This Application is made pursuant to 37. C.F.R. § 1.53(b) and is aDivisional Application of a prior-filed non-provisional applicationentitled “System and Method for Stabilizing Virtual Reality CameraConfigurations”, application Ser. No. 15/874,921 with filing date ofJan. 19, 2018, and therefore claims the benefit of priority of thatapplication under 35 U.S.C. § 121.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates primarily to the field of camerastabilization systems. More specifically, the invention relates tosystems and methods for stabilizing a plurality of video camerasarranged for the purpose of recording video images for viewing in thevirtual reality environment.

2. Description of the Prior Art

Virtual Reality is an increasingly popular format for viewing recordedstill and motion picture images. These images are typically captured orrecorded by utilizing a plurality of cameras that are positioned andheld on a camera support system such that each camera is aimed at adifferent angular orientation and with the cameras of the system havinga combined field of view sufficient to record a substantially360-degree, spherical view. The images obtained from the cameras arethen processed and “stitched” together using available software tocreate seamless 360-degree images. These images are then viewed usingspecial “virtual reality” HMD that allow the user of such HMDs to viewand experience the seamless 360-degree image by simply moving his or herhead up down and to each side. Such panoramic views have proven apopular format for video games and there is an increasing demand forvirtual reality, 360-degree video recordings of music concerts, sportingevents, and narrative films.

Accordingly, with filmmakers increasingly interested in filming withvirtual reality camera systems, there is now a need for the ability tocapture virtual-reality images in more sophisticated, dramatic andartful ways as an aid to storytelling. One such way for filmmakers tocapture such images is to move the virtual-reality camera system whilefilming. It is well known that the movement of a camera while filmingintroduces an undesirable jitteriness to the recorded image.Accordingly, with respect to single camera filming and recording, thereexists a large number of camera support and stabilization systemsdesigned to reduce or eliminate the jitteriness or other unwantedmovement which occurs when an operator attempts to move the singlecamera while recording.

The movement of a virtual reality camera system, with its plurality ofcameras arrayed and oriented to capture a 360-degree image, presentsunique problems with respect to the stabilization of the resulting360-degree, spherical image which the current technology does notaddress. Specifically, since the virtual reality camera system isdesigned to record the complete 360-degree environment surrounding thecamera system, any “rigging” used to support and stabilize the camerawould necessarily be recorded by the plurality of cameras recording thatenvironment. Even more so than in traditional filmmaking, an image ofthe camera support and stabilizing equipment recorded by the camera andvisible in the final virtual reality image would most decidedly “ruinthe shot”, as it would remove a user from enjoying the immersivevirtual-reality experience that is its main claim to fame.

In addition, a virtual reality camera system, with its plurality ofcameras positioned in the requisite manner to achieve a 360-degreespherical image, necessarily results in a system that is bulkier andmore unwieldy than traditional camera support systems. Accordingly, auseful support and stabilization system for such an arrangement must belightweight and compact enough to allow for relative ease of operationand movement by the virtual-reality filmmaker yet strong enough tosupport the plurality of cameras. Also, a useful support andstabilization system must be configured with the gimbals and associatedhardware positioned inside the spherical array of cameras so that thecameras do not image and record any part of the gimbals and associatedhardware.

Current stabilization systems for traditional film and video areinsufficient for use with virtual reality because (1) the stabilizationsystems are not typically configured to stabilize a plurality of camerasand (2) to the extent that such systems are able to stabilize aplurality of cameras, such systems utilize stabilization motors andattendant hardware and controls mounted in positions such that ifutilized for a virtual reality camera set-up, the image of thestabilization system would be recorded by the virtual reality cameras.In other words, the current stabilization technology is not designed tostabilize a plurality of cameras where the stabilization apparatus islocated within the stabilization rig. The only solution is to design anew stabilization apparatus specifically for use in the 360-degree videorecording environment. Also, while virtual reality camera support rigsexist in the art, for example, Kitner, U.S. Pat. No. 9,152,019, suchsystems provide no active stabilization and thus permit no usefulmovement of the virtual reality camera support system.

It is an object of this invention therefore to provide a 360-degree rigwith a plurality of virtual reality cameras support and stabilizationsystems and methods that provides active stabilization of avirtual-reality camera system while maintaining and housing thatstabilization system within a support apparatus such that stabilized,360 degree images can be recorded by the virtual reality cameras withoutthose cameras capturing in those recorded images any part of the supportapparatus, the stabilization system and/or any attendant hardware usedto operate the system. Another object of the invention is to provide alightweight and compact virtual reality camera support and stabilizationsystem that is easy to use, operate and move while recording virtualreality images. Another object of the invention is to provideembodiments of the invention allowing the operator of the virtualreality camera system to mount the virtual reality camera system to awide variety of available camera mounting systems for use in moving acamera system, including dollys, drones, cables, cranes and other camerarig systems. Another object of the invention is to provide embodimentsof the invention that accommodate and provide stabilization for avirtual reality camera system comprising any number of cameras, lenses,or other image-recording device or devices.

SUMMARY OF THE INVENTION

There is provided apparatuses and methods for stabilizing a plurality ofcameras supported in a configuration that provides for the filming of ascene of interest in a 360-degree spherical panorama. The apparatusesand methods allow for the attachment of the camera support andstabilization apparatus to a wide variety of movable platforms commonlyused in the motion picture industry for moving a traditional camerawhile filming a scene. Some common examples of such movable platformsinclude: handheld with operator movement; a tripod and dolly system; arover; a cable; and a drone. The invention thus permits the recording ofstabilized, 360-degree virtual reality images while moving the pluralityof cameras. Such stabilized movement has heretofore been reserved fortraditional film camera recording. Among other things, this capabilityin virtual reality camera systems allows filmmakers to employ a widevariety of camera movement techniques in virtual reality filmmaking tothereby create additional dramatic, creative, artistic and entertainingmoments for the viewer of the virtual reality recording.

An embodiment of the invention may include a support apparatus designedto accept and retain a plurality of cameras in a predeterminedorientation and further designed such that the plurality of camerasretained in the support apparatus are disposed in a radial array thatprovides the cameras with a 360-degree, spherical field of view. Thesupport apparatus is further configured such that the array of retainedcameras defines a central space outside of the field of view of theplurality of cameras and of sufficient size to allow the housing andsecuring within it of an active stabilization system secured to thesupport apparatus. The stabilization system may include three motorswith which to provide the active stabilization of the support apparatusand cameras across three axes of movement. Each motor may be of thebrushless variety, which provides finer and more direct control andmovement of each motor. Each motor is in electronic communication with asensor located on the support apparatus, said sensor designed to receiveindications of the apparatus's horizon. Such information may then betransmitted to the motors through the stabilization system's controlprocessor. The motors then act to level and stabilize the supportapparatus based on the information received. The stabilization systemmay be powered through a power source located and secured on the supportapparatus. The support and stabilization system may also include anattachment feature configured to secure the support and stabilizationapparatus to a platform, for example, a tripod, to provide furtherstability and to serve as a means for moving the support andstabilization system with its plurality of cameras while filming toachieve the desired result of an actively stabilized 360-degree virtualreality image.

The stabilization motors of the stabilization system may in a preferredembodiment include a pitch motor for providing stabilization of thesystem along the pitch or “X” axis, a yaw motor for providingstabilization along the yaw or “Y” axis and a roll motor for providingstabilization along the roll or “Z” axis of the system. An embodiment ofthe invention provides that the motors be mounted in specificorientations in relation to each other. For example, the pitch motor,providing stabilization along the “X” axis may be oriented verticallywithin the support apparatus and at a 90-degree angle to both the yawmotor and the roll motor. The yaw motor, providing stabilization alongthe “Z” axis, may then be mounted in a horizontal orientation to theroll motor. The pitch motor, providing stabilization along the “Y” axis,is oriented 90 degrees vertically from the Yaw motor. The mounting ofthe motors in the desired orientation is accomplished by the use ofmounting plates attached to the motors configured to secure each motorin the desired orientation.

In addition to the orientation of a motor with respect to each othermotor, the arrangement within the central space of the motors soorientated will also depend on the type of portable platform to whichthe system is to be secured. For example, an embodiment of the supportand stabilization apparatus provides for the attachment of the apparatusto a cable system along which the apparatus can move. Attachment of theapparatus to such a cable system is typically accomplished with a pointof attachment below the cable system by means of a monopod or a point ofattachment within the assembly. In such instances, the arrangement ofthe motors within the support apparatus will be such that each motormaintains its control over the specific axis it is designed to control.Similar motor arrangements may be necessary where other movableplatforms are used wherein the support and stabilization apparatus isattached to the platform from below, for example, a drone platformtypically provides for the attachment of the apparatus below the drone.Accordingly, the motors are arranged in a manner that will allow eachmotor to properly control the specific axis it is assigned to control.Other movable platforms call for attachment of the support apparatusabove the platform, for example, a tripod or rover. The system can becalibrated to work in either position with the sensors able to provideproper indications about the horizon to the motors. An embodiment of theinvention may provide for an orientation of the motors in an additionalmanner depending on the resulting orientation of the stabilizing systemwhen attached to a particular movable platform.

Further, the support apparatus may include also an attachment featureconfigured to attach the support and stabilization system to a platform,for example a tripod and dolly system. Other embodiments may providethat the attachment feature be located or incorporated into thestabilization system. Such a stabilization system may have a point ofattachment for its attachment to the support apparatus and another pointof attachment for the attachment of the system to the movable platform.

A preferred method of stabilizing a plurality of cameras according tothe invention then becomes apparent and may comprise the steps ofsecuring a plurality of cameras within a support apparatus configured toorient the secured plurality of cameras in a generally spherical array;securing a stabilizing system, comprising at least one stabilizingmotor, a horizon level sensor, motor controller and power source, to thesupport apparatus outside of the field of view of the plurality ofcameras; and mounting the support and stabilizing system on a movable orotherwise portable platform for operation.

A more detailed description of the embodiments together with other andfurther features and advantages is made in the following description inconjunction with the accompanying drawings. The scope of the inventionwill be pointed out in the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an embodiment of the camera supportapparatus.

FIG. 2 is a top view of another embodiment of the camera support andstabilization apparatus.

FIG. 3 is a top view of another embodiment of the camera support andstabilization apparatus.

FIG. 4 is a bottom perspective view of an embodiment of the camerasupport and stabilization apparatus.

FIG. 5 is a top view of another embodiment of the camera support andstabilization apparatus.

FIG. 6 is a bottom view of another embodiment of the camera support andstabilization apparatus.

FIG. 7(a) is a perspective view of an embodiment of the stabilizationassembly of the invention.

FIG. 7(b) is another perspective view of an embodiment of thestabilization assembly of the invention.

FIG. 8(a) is a perspective view of the First Mounting Plate of thestabilization assembly of an embodiment of the invention.

FIG. 8(b) is a perspective view of the Second mounting Plate of thestabilization assembly of an embodiment of the invention.

FIG. 8(c) is a perspective view of the Third Mounting Plate of thestabilization assembly of an embodiment of the invention.

FIG. 9 is a bottom perspective view of an embodiment of the inventionshowing the motors, controller and sensor components of the support andstabilization assembly.

FIG. 10 is a schematic drawing showing the operations of thestabilization assembly.

DETAILED DESCRIPTION OF THE INVENTION

Apparatuses and Methods for stabilizing a plurality of cameras orientedand utilized to record a series of still or motion picture images for360-degree virtual reality viewing are disclosed herein. Certain detailsare set forth below to provide sufficient understanding of embodimentsof the invention. However, it will be clear to one having skill in theart that embodiments of the invention may be practiced without theseparticular details. Moreover, the particular embodiments of the presentinvention described herein are provided by way of example and should notbe used to limit the scope of the invention to these particularembodiments. In other instances, well known circuits, control signals,and software operations have not been shown in detail to avoidunnecessarily obscuring the invention.

FIG. 1 is a perspective view of a support and stabilization apparatus(100) according to an embodiment of the invention. The apparatus (100)includes a support structure (110) defined by a top surface (120), aplurality of support columns (130) disposed along the top surface (120),each support column (130) including a proximal end (131) threadablysecured to the underside of the top surface (120) and extending downwardfrom the top surface (120) to a distal end (132) which is threadablysecured to a housing ring (140). The housing ring defines a bottomsurface (145) of the support structure (110). The support structure(110) also includes a plurality of camera receptacles (150) disposedalong the housing ring (140). The camera receptacles (150) areconfigured to retain a plurality of photographic cameras (155) andfurther configured to orient the cameras (155) in a manner that providesthe plurality of cameras (155) with a 360-degree field of view aroundthe perimeter of the housing ring (140).

As show in FIG. 1, according to this embodiment, once inserted or placedwithin the receptacle (150), each camera (155) is secured within thereceptacle (150) by a securing means including receptacle plates (180)disposed against both the upper surface and against the bottom surface(145). The receptacle plates (180) are connected via two screwspositioned on either side of the camera receptacle (150) and that extendthrough the upper surface (120) and to the bottom surface (145). Whentightened, they secure the camera (155) within the camera receptacle(150). Preferably, the receptacle plates (180) are configured to providefor ease of access to the camera, the camera's controls, and to providesufficient cooling for the camera while in operation while it alsomaintains a sufficient hold of the camera to prevent it from anyunwanted movement or shaking within the receptacle (150).

In another embodiment of the invention, shown in FIG. 2, the supportapparatus consists of the support structure (110) and attached camerareceptacles (150). Each camera receptacle (150) comprises a camerahousing (156). The camera housing (156) is secured to the supportstructure (110) and is configured to accept a camera (155) and comprisesan integrated holding strap (157), preferably with a latch mechanism,which is used to further secure the camera (155) into the camerareceptacle (150).

In the embodiment shown in FIG. 1, each camera receptacle (150) willpreferably be positioned between two support columns (130) withsufficient space between each support column (130) and the camerareceptacle (150) to provide access to the camera controls and furtherpositioned with generally equal distances between the support column(130) on one side of the camera (155) and the support column (130) onthe other side of the camera (155). This arrangement provides asatisfactory level of overall support for the support structure (110) aswell as provides an even distribution of weight of the support structure(110), a factor that assists in the efficient operation of thestabilizing motors discussed in more detail below.

The embodiment shown in FIGS. 1 and 2 show a camera receptacleconfigured to accept a ‘GoPro’™ style of commercially available camerathat is popular for virtual-reality filmmaking. That and similar camerasare capable of either still or motion-picture photography, are compact,can be operated remotely, and the image files created are compatiblewith commonly available and popular virtual reality stitching software.However, the invention is designed and can be configured to operate withany type of camera including a wide variety of DLSR and cinema camerawith a wide variety of lens attachments. For example, FIG. 5 shows anembodiment of the invention wherein the camera receptacles (150) areconfigured to accept larger cinema cameras (155) such as the BlackMagic™ brand of camera (155).

It is noted here that the support structure (110) is of a generallycircular shape. However, the specific polygonal shape of the supportstructure (110), will preferable be related to the number of camerareceptacles (150) that are located along the perimeter of the supportstructure (110) and the orientation of those cameras (155). For example,FIG. 1 shows the invention configured to hold eight cameras around theperimeter of the support structure (110). As can be seen in FIG. 1, thecamera (155) is positioned within the camera receptacle (150) and, asdiscussed above, a support column (130) is positioned on either side ofthe camera receptacle (150). Accordingly, the polygonal shape of thesupport structure's upper surface (120) and corresponding housing ring(140) is an octagon. Thus shaped, each of eight vertical planes definedby each side of the octagonal shaped upper surface (120) andcorrespondingly shaped housing ring (140) includes a camera receptacle(150) flanked by two support columns (130), one on either side of thereceptacle (150). Similarly, as shown in FIG. 2, a support structureconfigured to retain six cameras (150) along the perimeter of thesupport structure (110) would result in a support structure (110) of ahexagonal shape. However, this correspondence will be more looselyadhered to in other embodiments. For example, as shown in FIG. 5, theuse of larger cameras (155) along the support structure (110), withtheir attendant larger camera receptacles (150), will necessarily resultin a support structure shape that does not correspond with the number ofcamera receptacles (150). In any embodiment though, a configurationscalable in this manner provides optimal orientation of the plurality ofcameras (155) disposed along the perimeter of the support structure(110) to capture a 360-degree panoramic image.

As shown in FIG. 3, the support structure (110) of an embodimentincludes also at least one upper camera receptacle (190) disposed on thetop surface (120) and configured to orient a camera such that itcaptures an image above the support structure (110). While theembodiment shown in FIG. 3, provides for one camera receptacle, it isunderstood that an embodiment may include additional upper camerareceptacles (190) and disposed along the top surface (120) to maximizethe field of view above the top surface (120). As shown in FIG. 3, eachupper camera receptacle (190) may be integral to the top surface (120)or, alternatively, connected by fasteners or other means to the topsurface (120). The upper camera receptacle (190) is defined by a backingplate (191), which provides a point of attachment or integration to thetop surface (120), an outer side wall (192), an inner side wall (193)that is essentially parallel to the outer side wall (192), and an openend (191). Both the inner side wall (193) and outer side wall (192)include two tabs (195) disposed on either side of the inner side wall(193) and outer side wall (192). According to this exemplary embodiment,a camera may be inserted through the open end with the back of thecamera resting on the backing plate and each side of the camera incontact with the inner side wall (193) and outer side wall (192)respectively. The camera is secured in the upper camera receptacle (190)by two threadable connections (194), each with a proximal end securedthrough each tab (195) on the outer side wall (192) and a distal endthreadably secured to each tab (195) of the inner side wall (193).Alternatively, as shown in FIG. 2, each upper camera receptacle (190)may be secured to the support structure (110) and configures to accept acamera (155) and comprising an integrated strap (157) configured tosecure the camera (155) to the upper camera receptacle (190).

FIG. 4 shows an embodiment of the invention wherein the supportstructure (110) includes at least one lower camera receptacle (200)disposed on the bottom surface (145) and configured to orient a camera(155) such that it captures images below the support structure (110). Inthe embodiment shown in FIG. 4, two lower camera receptacles (200) areeach configured as the upper camera receptacles described above andshown in FIG. 3, and are secured or otherwise attached to the undersideof the bottom surface (145). In other embodiments it is understood thata lower camera receptacle (200) can be secured to the support structure(110) and oriented to hold and affix a camera (155) such that itcaptures images below the support structure (110) with said affixationof the camera (155) accomplished by a securing means.

It is also understood that the invention may be practiced by anembodiment without the use of any upper camera receptacles and/orwithout any lower camera receptacles. FIG. 5 shows one such embodimentof the invention. Specifically, the support structure (110) of FIG. 5comprises four camera receptacles (150) disposed along the supportstructure (110) and otherwise arrayed around the perimeter of thesupport structure (110). The cameras (150) contained within each camerareceptacle (155) are equipped with super fish-eye lenses. Such camerasystems arrayed as shown in FIG. 5 would provide for the capture of aspherical, 360-degree image suitable for virtual reality recording.

As shown in FIG. 1, the support structure (110) should ideally bemanufactured of a suitable material having adequate strength andrigidity while being lightweight for ease of use. One such preferredmaterial is carbon fiber. Other suitable materials include moldableplastic or nylon and aluminum, tempered aluminum and/or other types ofhardened aluminum such as Duralumin.

As shown in FIG. 1, the support structure (110) thus configured willalso define a central space (300). As shown in FIG. 1, the central space(300) is bounded from above by the top surface (120) and bounded on itssides by the plurality of support columns (130) and the plurality ofcamera receptacles (150) disposed along the perimeter of the supportstructure (110).

As shown in FIG. 4, secured to the support structure (110) and disposedwithin the central space (300) is a stabilization assembly (305). FIG. 3show an embodiment wherein the top surface (120) is configured toinclude a top surface opening (121). The top surface opening (121) isdisposed along the top surface (120) to allow for the free movement ofthe stabilization assembly (305) without it coming into contact with theunderside of the top surface (120). Referencing back to FIG. 4, thestabilization assembly (305) is secured to the underside of the topsurface (120) by means of a first mounting plate (311). A pitch motor(312) is secured to the first mounting plate (311) and orientedvertically within the central space (300). As shown in FIG. 4, the firstmounting plate (311) will preferably be “L-shaped” or similarlyconfigured to permit the pitch motor (312) to be properly oriented in avertical position relative to the central space (300). A second mountingplate (313) is secured to the pitch motor (312) and as shown in thepreferred embodiment of FIG. 4, the second mounting plate (313) issecured to pitch motor (312) on the opposite side from where the pitchmotor (312) is secured to the first mounting plate (311). A roll motor(411) is secured to the second mounting plate (313) and oriented at a90-degree angle to the pitch motor (312). As shown in the preferredembodiment of FIG. 4, the second mounting plate (313) will also be“L-shaped” or otherwise configured to allow the roll motor (411), oncesecured, to be oriented at a 90-degree angle to the pitch motor (312). Athird mounting plate (412) is secured to the roll motor (411) and asshown in the preferred embodiment of FIG. 4, the third mounting plate(412) is secured to the roll motor (411) on the opposite side from wherethe roll motor (411) is secured to the second mounting plate (313). Ayaw motor (501) is secured to the third mounting plate (412) andoriented at a 90-degree angle to both the roll motor (411) and the pitchmotor (312). In the embodiment shown in FIG. 4, the third mounting plateis configured to allow proper orientation of the yaw motor with respectto both the roll motor and pitch motor and to also permit movement ofthe stabilization assembly within the central space (300) when thestabilization assembly (305) and apparatus are connected to a tripod orother similar mounting. As shown in FIG. 4, the stabilization assemblyincludes a mount (510) for securing the stabilization assembly (305) andsupport structure (110) to a tripod, monopod or other supportingplatform.

FIGS. 7(a) and 7(b) show the stabilization assembly (305) of particularembodiments of the invention removed from the support structure andcentral space of the invention so as to provide a clearer view of thestructures associated with the stabilization assembly (305) as well astheir configuration and orientation. Specifically, as shown in FIG.7(b), the stabilization assembly (305) comprises a first mounting plate(311), (which, as shown in FIG. 2, is attached to the support structure(110)), a pitch motor (312) is secured to the first mounting plate(311), (which, as shown in FIG. 4 is oriented vertically within thecentral space (300)). As shown in FIG. 7(a), second mounting plate (313)secured to the pitch motor. As shown in FIG. 7(a), a roll motor (411) issecured to the second mounting plate (313) and, as shown in FIG. 4, isoriented at a 90-degree angle to the pitch motor (312). FIG. 7(a) showsa third mounting plate (412) that is secured to the top of the rollmotor (411). Also, in FIG. 7(a), A yaw motor (501) is attached to thethird mounting plate (412) and oriented at a 90 degree angle to both theroll motor (411) and pitch motor (312). In the embodiment shown in FIG.7(a), which is the same embodiment as shown in FIG. 4, the mount (510)is configured to secure the stabilization apparatus (305) to a platformsuch as a tripod.

As seen in FIGS. 7(a) and 7(b), as well as FIG. 2 and FIG. 6, thepositioning of the stabilization assembly (305) within the central space(300) and the orientation of each motor relative to the other motors ofthe stabilization assembly (305) is achieved through configuration ofthe mounting plates. Using this same general configuration, severalembodiments of the invention can be achieved depending on how theapparatus is to be supported, (for e.g., from above with a cable system,from below with a conventional tripod, or attached to a drone).Specifically, in the embodiment shown in FIG. 2, integral to the firstmounting plate (311) are two mounting brackets (320) for securing thefirst mounting plate (311) to the support apparatus (110). The mountingbrackets (320) are configured and disposed along the first mountingplate (311) in a manner to provide a stable platform for thestabilization assembly and to position the stabilization assembly withinthe central space (300). The first mounting plate (311) also provides apitch motor mounting bracket (321) disposed on the first mounting plate(311) and configured for securing the pitch motor (312) in a verticalorientation within the central space (300). The structures associatedwith the first mounting plate for this embodiment are shown in moredetail in FIG. 8(a). There, the first mounting plate (311) of anembodiment of the invention comprises at least one mounting bracket(320) to secure the first mounting plate (311) to the support apparatus(110) (shown, for example in FIG. 1) and a motor mounting bracket (321).As shown in FIGS. 7(a) and 7(b), the second mounting plate (313) is thensecured to the opposite side of the pitch motor (312) and is configuredin an L-shape for disposing the roll motor (411) at a 90-degree angle tothe pitch motor (312). The third mounting plate (412) is also configuredin a L-shape and secured to the roll motor (411) and securing the yawmotor (501) with the yaw motor (501) disposed horizontally to the rollmotor (411) and at an angle that is 90-degrees from both the roll motor(411) and the pitch motor (312). So configured, and as shown in FIG.8(c), and FIG. 7(a), the third mounting plate (412), which is secured toboth the yaw motor (501) and the roll motor (411), will have sufficientdimension to position the yaw motor (501) directly above the pitch motor(312) with the central space (300)

Another embodiment is shown in FIG. 6. There, the first mounting plate(311) spans the central space (300) and is secured to the supportstructure (110) at two places along the housing ring (140). Similarly,as shown in the embodiment illustrated by FIG. 5, the stabilizationassembly (305) spans the central space and is secured to the supportstructure (110) at four points.

FIG. 8(b) shows details of the second mounting plate (313) of thestabilization assembly (305) of the embodiment of the inventionillustrated in FIG. 4. Similarly, FIG. 8(c) shows details of the thirdmounting plate (412) of the stabilization assembly (305) of theembodiment of the invention illustrated in FIG. 4.

In reference to the various embodiments illustrated, like the supportstructure (110), the mounting plates of the stabilization assembly (300)are preferably constructed of tempered aluminum, or carbon fiber orother lightweight yet strong material. Other configurations for thestabilization assembly (300) are possible depending on the configurationof the specific support structure (110) and its associated configurationof the plurality of cameras (150). For each configuration however, thepitch motor (312) shall be positioned vertically with respect to thesupport apparatus and at an angle of 90-degrees to both the roll motor(411) and the yaw motor (501). Also, the roll motor (411) shall bepositioned vertically and at 90-degrees to the yaw motor (501). Itnecessarily will follow, therefore, that the yaw motor (501) bepositioned horizontally to the roll motor (411) and at an angle of 90degrees to the pitch motor (312).

In additional reference to the illustrations of the various embodimentsof the invention, the motors of the stabilization apparatus (305) arepreferably of the brushless variety, consistent with its role as a loadbearing motor and also to provide the desired level of accuracy andprecision of movement of the stabilization apparatus under operation.The size of the motors will vary depending on the number of cameras(150) and the corresponding weight of the support apparatus (100).

As set forth above, the support and stabilization apparatus (100) (asreferenced in the various illustrated embodiments) is scalable as to thenumber of cameras used. The apparatus (100) is also scalable withrespect to the type and size of camera used. To stabilize a large numberof cameras or to stabilize a support structure (110) that is otherwiseheavily laden with cameras and ancillary equipment, motors of sufficientsize shall be employed. The support and stabilization system (100) ofthe instant invention is most optimally suited for motors with diametersbetween 20 mm and 300 mm.

Referring to FIG. 9, for operation of the motors of the stabilizationassembly, the stabilization assembly includes a power source which, in apreferred embodiment, will be a portable battery (651) secured to thesupport structure (110) and connected to a controller (600) which in apreferred embodiment will be of the 32 bit, single integrated circuittype commonly found in the art and that contains a processor core,memory, and programmable input/output peripherals. The controller (600)is secured to the support apparatus and is in electronic communicationwith a sensor (601) also secured to the support apparatus, with FIG. 9showing the sensor (601) located on the underside of the top surface. Itis understood that the sensor can be located at any suitable location onthe apparatus. The sensor (601) will preferably be of the inertialmeasurement unit (or IMU) variety of the type found in the art, that is,designed to detect changes in rotational attributes of pitch, roll andyaw of a system. So integrated on the support and stabilizationapparatus (100) as shown in FIG. 9, the sensor (601), detects andreceived information regarding the horizon level and changes in thepitch, roll and yaw movement of the support and stabilization apparatus(100) and relays that information to the controller (600). Thecontroller (600) processes the information pursuant to commerciallyavailable, programmed codes specific to and consistent with the relativearrangement of the motors of the stabilization apparatus (300).

As shown in the FIG. 10 schematic, the controller then sends movementcommands to each of the pitch motor (312), roll motor (411) and yawmotor (501) as necessary. Encoders contained within each motor providefeedback to the controller (600) regarding the operation of each motorto ensure that the motors engage in movements consistent with commandsfrom the controller (600) that result in stabilization of the supportand stabilization apparatus (100) and its plurality of cameras (150) (asreferenced in the various illustrated embodiments) and such that theresulting images being recorded by the plurality of cameras isstabilized and free of unwanted movement.

Referring to FIG. 9, the support and stabilization apparatus (100) isshown configured with the power source (651), ideally a battery. Thepower source (651) is secured to the support structure (110) via a holddown strap (211) attached to the underside of the bottom surface (145).The hold down strap (211) may be comprised of a Velcro strip forsecuring the power source (651) to the support structure (110). As shownin FIG. 9 and described above, commercially available power cables (213)are used to connect the power source (651) to the controller (600) andto connect the controller (600) to the sensor (601) and the controller(600) to the motors.

Further, in this embodiment, as shown in FIG. 9, the power source (651)may also be used to power other ancillary systems, including, forexample, a cooling fan (220) which may be securably attached to theunderside of the housing ring or bottom surface (145) as shown in FIG.9, to provide additional cooling to the system (100).

As may be appreciated by one skilled in the art, the present disclosuremay be embodied as methods. Specifically, the disclosure provides amethod for active stabilization of a plurality of cameras arranged in aspherical array by means of gathering information about the horizonlevel of the spherical array of the plurality of cameras andtransmitting that information to motors, which stabilize the horizonlevel in response the information provided.

It will be apparent to those skilled in the art that variousmodifications and variations can be made in the disclosed embodiments ofthe disclosed device and associated methods without departing from thespirit or scope of the disclosure. This includes the contemplation ofimprovements to camera, lens and/or other image capture technology thatwould provide for the capture of 360-degree, spherical images suitablefor use in virtual reality recordings by means of a single cameracapable of capturing a 360-degree spherical image as opposed to aplurality of cameras. This also includes improvements to motor andgimbal technology that would provide for a reduction in size of thecentral space required to house the motor assembly, including thepossibility that the central space be simply an area where the motorassembly can be positioned and secured so as not to interfere with the360-degree image to be photographed. Thus it is intended that thepresent disclosure covers the modifications and variations of theembodiments disclosed above provided that the modifications andvariations come within the scope of any claims and their equivalents.

1. A camera support and stabilization system comprising: a supportapparatus configured to simultaneously retain and balance a plurality ofphotographic cameras and further configured to define a central space ofthe support apparatus; a pitch axis assembly mounted to the supportapparatus and positioned within the central space wherein the said pitchaxis assembly includes a pitch motor to rotate the support apparatusaround the pitch axis and wherein the pitch motor is oriented verticallywithin the central space; a yaw axis assembly coupled with the pitchaccess assembly, the yaw axis assembly to rotate the support apparatusaround the yaw axis and including a yaw motor that is oriented at a 90degree angle to the pitch motor; a roll axis assembly coupled to the yawaxis assembly, the roll axis assembly to rotate the support apparatusaround the roll axis, and including a roll motor that is oriented at a90 degree angle to both the yaw motor and pitch motor; a sensorresponsive to movement located on the support apparatus and Incommunication with a control module secured to the support apparatuswith said control module programmed to receive and process inputs fromthe sensor and to control movement of the roll motor, pitch motor andyaw motor; and at least one attachment feature configured for enablingthe support apparatus to be secured to another object.
 2. A camerasupport and stabilization system as recited in claim 1 wherein theattachment feature is removably coupled to the pitch axis assembly.
 3. Acamera support and stabilization system as recited in claim 1 whereinthe attachment feature is removably coupled to the roll motor assembly.4. A camera support and stabilization system as recited in claim 1further comprising a power source secured to the support apparatus.
 5. Acamera support and stabilization system as recited in claim 1 whereinthe sensor is an inertial measurement unit
 6. A camera support andstabilization system as recited in claim 1 wherein the roll motor, yawmotor and pitch motor are brushless.
 7. A camera support andstabilization system as recited in claim 1 wherein the roll motor, yawmotor and pitch motor have diameters between 20 mm and 300 mm. 8.(canceled)
 9. A camera support and stabilization system as recited inclaim 1 and further comprising a cooling fan secured to the supportapparatus.
 10. A camera support and stabilization system as recited inclaim 1 further comprising a first mounting plate removably secured tothe support apparatus, the pitch motor removably secured to the firstmounting plate, a second mounting plate secured to the top of the pitchmotor; the yaw motor removably secured to the second mounting plate; athird mounting plate removably secured to the yaw motor and the rollmotor removably secured to the third mounting plate.
 11. A camerasupport and stabilization system comprising: a support apparatusconfigured to simultaneously retain and balance a plurality of imagecapturing device(s) and further configured to define a central space ofthe support apparatus; a pitch axis assembly mounted to the supportapparatus and positioned within the central space wherein the said pitchaxis assembly includes a pitch motor to rotate the support apparatusaround the pitch axis and wherein the pitch motor is oriented verticallywithin the central space; a yaw axis assembly coupled with the pitchaccess assembly, the yaw axis assembly to rotate the support apparatusaround the yaw axis and including a yaw motor that is oriented at a 90degree angle to the pitch motor; a roll axis assembly coupled to the yawaxis assembly, the roll axis assembly to rotate the support apparatusaround the roll axis, and including a roll motor that is oriented at a90 degree angle to both the yaw motor and pitch motor; a sensorresponsive to movement located on the support apparatus and incommunication with a control module secured to the support apparatuswith said control module programmed to receive and process inputs fromthe sensor and to control movement of the roll motor, pitch motor andyaw motor.